Adjust GPIO-pins and conf, Invert currentsensor, Buzzer

motorctl, currentsensor:
    - add config option for inverted current sensor
    - adjust loglevels

config:
    - Adjust gpio pins to actual wiring (not breakout board for testing)
    - Add min pulse durations for speedsensors (measurements with scope)
    - Adjust config to currently mounted encoders

control, buzzer:
    - adjust beeping
    - Add feature for optinal delay to buzzer class:
      have some pause after beeps instead of immediately
      continuing with next queued sequence

board_single/main/button.cpp

@@ -205,7 +205,7 @@ void buttonCommands::startHandleLoop()
             {
                 //-- run action with count of presses --
                 ESP_LOGI(TAG, "timeout: count=%d, lastPressLong=%d -> running action", count, isPressed);
-                buzzer->beep(count, 50, 50);
+                buzzer->beep(count, 50, 50, 200); //beep count, with 200ms gap before next queued beeps can start
                 action(count, isPressed); // run action - if currently still on the last press is considered long
                 count = 0;                // reset count
             }

board_single/main/config.cpp

@@ -41,7 +41,7 @@ void setLoglevels(void)
     // esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG);
     esp_log_level_set("display", ESP_LOG_INFO);
     // esp_log_level_set("current-sensors", ESP_LOG_INFO);
-    // esp_log_level_set("speedSensor", ESP_LOG_INFO);
+    esp_log_level_set("speedSensor", ESP_LOG_WARN);
     esp_log_level_set("chair-adjustment", ESP_LOG_INFO);
     esp_log_level_set("menu", ESP_LOG_INFO);
     esp_log_level_set("encoder", ESP_LOG_INFO);
@@ -84,7 +84,7 @@ single100a_config_t configDriverRight = {
 
 //--- configure sabertooth driver --- (controls both motors in one instance)
 sabertooth2x60_config_t sabertoothConfig = {
-    .gpio_TX = GPIO_NUM_25,
+    .gpio_TX = GPIO_NUM_27,
     .uart_num = UART_NUM_2};
 
 // TODO add motor name string -> then use as log tag?
@@ -97,6 +97,7 @@ motorctl_config_t configMotorControlLeft = {
     .currentSensor_adc = ADC1_CHANNEL_4, // GPIO32
     .currentSensor_ratedCurrent = 50,
     .currentMax = 30,
+    .currentInverted = true,
     .deadTimeMs = 0 // minimum time motor is off between direction change
 };
 
@@ -109,6 +110,7 @@ motorctl_config_t configMotorControlRight = {
     .currentSensor_adc = ADC1_CHANNEL_5, // GPIO33
     .currentSensor_ratedCurrent = 50,
     .currentMax = 30,
+    .currentInverted = false,
     .deadTimeMs = 0 // minimum time motor is off between direction change
 };
 
@@ -154,7 +156,7 @@ joystick_config_t configJoystick = {
     .y_min = 1700, //=> y=-1
     .y_max = 2940, //=> y=1
     // invert adc measurement
-    .x_inverted = true,
+    .x_inverted = false,
     .y_inverted = true};
 
 //----------------------------
@@ -175,20 +177,23 @@ fan_config_t configFans = {
 //--------------------------------------------
 speedSensor_config_t speedLeft_config{
     .gpioPin = GPIO_NUM_5,
-    .degreePerGroup = 360 / 5,
-	.minPulseDurationUs = 10000, //smallest possible pulse duration (< time from start small-pulse to start long-pulse at full speed). Set to 0 to disable this noise detection
+    .degreePerGroup = 360 / 16,
+	.minPulseDurationUs = 3000, //smallest possible pulse duration (< time from start small-pulse to start long-pulse at full speed). Set to 0 to disable this noise detection
+    //measured wihth scope while tires in the air:
+    // 5-groups: 12ms
+    // 16-groups: 3.7ms
     .tireCircumferenceMeter = 0.81,
-    .directionInverted = false,
-    .logName = "speedLeft",
+    .directionInverted = true,
+    .logName = "speedLeft"
 };
 
 speedSensor_config_t speedRight_config{
     .gpioPin = GPIO_NUM_14,
     .degreePerGroup = 360 / 12,
-	.minPulseDurationUs = 10000, //smallest possible pulse duration (< time from start small-pulse to start long-pulse at full speed). Set to 0 to disable this noise detection
+	.minPulseDurationUs = 4000, //smallest possible pulse duration (< time from start small-pulse to start long-pulse at full speed). Set to 0 to disable this noise detection
     .tireCircumferenceMeter = 0.81,
-    .directionInverted = true,
-    .logName = "speedRight",
+    .directionInverted = false,
+    .logName = "speedRight"
 };
 
 
@@ -216,7 +221,7 @@ display_config_t display_config {
 rotary_encoder_t encoder_config = {
 	.pin_a = GPIO_NUM_25,
 	.pin_b = GPIO_NUM_26,
-	.pin_btn = GPIO_NUM_27,
+	.pin_btn = GPIO_NUM_21,
 	.code = 1,
 	.store = 0, //encoder count
 	.index = 0,

board_single/main/control.cpp

@@ -447,7 +447,7 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
         case controlMode_t::IDLE:
             ESP_LOGW(TAG, "switching to IDLE mode: turning both motors off, beep");
             idleBothMotors();
-            buzzer->beep(1, 1000, 0);
+            buzzer->beep(1, 900, 0);
 #ifdef JOYSTICK_LOG_IN_IDLE
             esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
 #endif
@@ -456,7 +456,7 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
         case controlMode_t::ADJUST_CHAIR:
             ESP_LOGW(TAG, "switching to ADJUST_CHAIR mode: turning both motors off, beep");
             idleBothMotors();
-            buzzer->beep(4, 200, 100);
+            buzzer->beep(3, 100, 50);
             break;
 
         case controlMode_t::MENU:

board_single/main/main.cpp

@@ -164,8 +164,8 @@ void createObjects()
 
     // create objects for controlling the chair position
     //                       gpio_up, gpio_down, name
-    legRest = new cControlledRest(GPIO_NUM_4, GPIO_NUM_16, "legRest");
-    backRest = new cControlledRest(GPIO_NUM_2, GPIO_NUM_15, "backRest");
+    legRest = new cControlledRest(GPIO_NUM_2, GPIO_NUM_15, "legRest");
+    backRest = new cControlledRest(GPIO_NUM_16, GPIO_NUM_4, "backRest");
 
     // create control object (control.hpp)
     // with configuration from config.cpp